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AP_RCProtocol: fixed RC option check for iofirmware

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This commit is contained in:
Andrew Tridgell 2019-03-13 09:05:25 +11:00
parent ac3da71efd
commit 9f1eaf4b37
1 changed files with 7 additions and 1 deletions
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8
libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
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@ -18,6 +18,7 @@
#include "AP_RCProtocol.h" #include "AP_RCProtocol.h"
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <RC_Channel/RC_Channel.h> #include <RC_Channel/RC_Channel.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
AP_RCProtocol_Backend::AP_RCProtocol_Backend(AP_RCProtocol &_frontend) : AP_RCProtocol_Backend::AP_RCProtocol_Backend(AP_RCProtocol &_frontend) :
frontend(_frontend), frontend(_frontend),
@ -54,7 +55,12 @@ void AP_RCProtocol_Backend::add_input(uint8_t num_values, uint16_t *values, bool
memcpy(_pwm_values, values, num_values*sizeof(uint16_t)); memcpy(_pwm_values, values, num_values*sizeof(uint16_t));
_num_channels = num_values; _num_channels = num_values;
rc_frame_count++; rc_frame_count++;
if (!in_failsafe || RC_Channels::ignore_rc_failsafe()) { #if !APM_BUILD_TYPE(APM_BUILD_iofirmware)
if (RC_Channels::ignore_rc_failsafe()) {
in_failsafe = false;
}
#endif
if (!in_failsafe) {
rc_input_count++; rc_input_count++;
} }
} }